I have a question about file naming.
From the .ini file there is:
EMCMOT = motmod
Inside the HAL file which gets EMCMOT from the .ini file we have:
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD
servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt hal_parport cfg="0 out"
loadrt stepgen step_type=0,0,0,0
The HAL loadrt command refers to the call done by the:
int rtapi_app_main(void) { … }
to the hal_init(); function which has as a character string the name of the
module:
/* connect to the HAL and RTAPI */
mot_comp_id = hal_init("motmod");
/* have good config info, connect to the HAL */
comp_id = hal_init("stepgen");
/* have good config info, connect to the HAL */
comp_id = hal_init("hal_parport");
The exception seems to be "motmod". This is linked in "motion.c" rather than a
file named "motmod.c".
Unlike the "stepgen.c" and "hal_parport.c" and even "hostmot2.c" and indirectly
through a #define in "hm2_eth.h" the file "hm2_eth.c"
So what's up with that? That it would break too many systems seems to me not
to be a good enough reason. Seems only 3 things need to be done:
1. Just change the text string from "motmod" to "motion" in the motion.c
source code.
2. Change the pcconfig programs that generate hal files to loadrt motion …
rather than loadrt motmod
3. In the read me for a LinuxCNC upgrade tell users to edit this or create
a script that does this automatically.
Or am I missing something else really important?
John Dammeyer
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